Add asset desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d

.gitattributes

@@ -6240,3 +6240,4 @@ dataset/desktop_supplies/electronic_accessories/79564ac8965954cfa126ae5a2c31fda0
 dataset/desktop_supplies/electronic_accessories/79cbe0976d5157ad810e45a62bd5522a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/79ec27b3ca385502bf7c912ae5c6056b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/7bfc5252c03e5baa8cdf5ee453043509/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/affordance_annot.json

@@ -0,0 +1,113 @@
+{
+    "affordances": [
+        {
+            "part_name": "cable connectors",
+            "mask_color": "Red",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp one connector to plug or unplug the cable from a device port",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "grasp a connector to pull and reposition the coiled cable",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "hold a connector to orient the cable end before insertion",
+                    "confidence": 0.92
+                }
+            ],
+            "functional_labels": [
+                "connect to a charging port",
+                "provide a rigid grip point",
+                "enable plugging and unplugging",
+                "indicate cable end orientation"
+            ],
+            "semantic_description": "Small mint-green molded connector housings with exposed gold-colored metal tips, hard smooth slightly matte plastic, tapered rectangular shape, located at both cable ends with printed white branding visible on some views.",
+            "id": 0,
+            "grasp_group": {
+                "grasp_1": {
+                    "confidence": 0.6042898297309875,
+                    "position": [
+                        -0.07989255024585873,
+                        0.06290184613317251,
+                        0.02305132450419478
+                    ],
+                    "orientation": {
+                        "w": 0.3612820729498673,
+                        "xyz": [
+                            0.7362123547635168,
+                            -0.27749197787286783,
+                            0.5004646188041751
+                        ]
+                    }
+                },
+                "grasp_8": {
+                    "confidence": 0.5355349779129028,
+                    "position": [
+                        -0.05462196527514607,
+                        -0.11566086579114199,
+                        -0.034865065274061635
+                    ],
+                    "orientation": {
+                        "w": 0.11057008854227245,
+                        "xyz": [
+                            -0.23243631027715966,
+                            -0.5160656369014891,
+                            -0.8169601432101534
+                        ]
+                    }
+                },
+                "grasp_18": {
+                    "confidence": 0.9350169897079468,
+                    "position": [
+                        -0.10676667524967343,
+                        0.01982016023248434,
+                        0.018862392025766894
+                    ],
+                    "orientation": {
+                        "w": 0.1664190346086459,
+                        "xyz": [
+                            0.7536273442566752,
+                            -0.18095624084285422,
+                            0.6095944305918322
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "cable body",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cable body to pick up and move the coiled cable",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the cable body to route or straighten it during setup",
+                    "confidence": 0.71
+                },
+                {
+                    "scenario": "pinch the cable body to stabilize it while another gripper manipulates a connector",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "carry electrical power",
+                "provide flexible reach",
+                "bend for routing",
+                "bundle into a coil"
+            ],
+            "semantic_description": "Long mint-green flexible cable jacket with a smooth matte rubbery surface, thin flat rounded profile, medium overall size, forming loops between the two end connectors.",
+            "id": 4,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb592fe82e66c2ed410eabe0a4bf1f7ce5d52e1a6344384e700c67d12f1a31f
+size 3778008

dataset/desktop_supplies/electronic_accessories/7eeb9dfe82f858e8ba118752c6651f4d/charging_cable_021.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>